The invention discloses a transverse control method, device and equipment of a vehicle and a computer readable storage medium, and belongs to the technical field of intelligent driving. The method comprises the following steps: constructing a state-space equation of a vehicle according to perturbation parameters and motion parameters of the vehicle; determining a closed-loop transfer function corresponding to the state-space equation according to the state-space equation and a robust controller model to be determined; constructing the robust controller model based on a solution of a convex optimization inequality corresponding to the closed-loop transfer function; and performing transverse control on the vehicle based on the robust controller model. The invention aims to improve the accuracy of transverse control.
本发明公开了一种车辆的横向控制方法、装置、设备及计算机可读存储介质,属于智能驾驶技术领域。该方法包括:根据车辆的摄动参数和运动参数,构建所述车辆的状态空间方程;根据所述状态空间方程和待确定的鲁棒控制器模型,确定所述状态空间方程对应的闭环传递函数;基于所述闭环传递函数对应的凸优化不等式的解,构建所述鲁棒控制器模型;基于所述鲁棒控制器模型对所述车辆进行横向控制。本发明旨在提升横向控制的准确性。
Transverse control method, device and equipment of vehicle and computer readable storage medium
车辆的横向控制方法、装置、设备及计算机可读存储介质
2024-06-18
Patent
Electronic Resource
Chinese
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